Title :
Synthesis of adaptive controllers for robot manipulators using a passive feedback systems approach
Author :
Landau, I.D. ; Horowitz, Roberto
Author_Institution :
Lab. d´´ Autom. de Grenoble, ENSIEG, St. Martin D´´Heres, France
Abstract :
Utilizing the fact that a manipulator composed of rigid links is a passive system, an approach based on the properties of interconnected passive systems is proposed for the analysis and synthesis of fixed and adaptive controllers for robot manipulators. This approach clarifies the rationale behind the various fixed and adaptive control laws synthesized using Lyapunov functions
Keywords :
Lyapunov methods; adaptive control; control system synthesis; feedback; robots; Lyapunov functions; adaptive controllers; control system synthesis; manipulators; passive feedback systems; robot; Adaptive control; Control system synthesis; Force control; Force feedback; Friction; Kinetic energy; Manipulators; Programmable control; Robot control; Symmetric matrices;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12196
